这次,我使用超声波硬件测量前方的距离,并让小车作出判断:是前进,还是后退,是左转,还是右转,或停止。
const int eye1 = 8;
const int eye2 = 9;
const int left1 = 14;
const int left2 = 15;
const int right1 = 16;
const int right2 = 17;
const int PWM1 = 3;
const int PWM2 = 5;
float cm;
void setup() {
Serial.begin(9600);
pinMode(left1, OUTPUT);
pinMode(left2, OUTPUT);
pinMode(right1, OUTPUT);
pinMode(right2, OUTPUT);
pinMode(eye1, OUTPUT);
pinMode(eye2, INPUT);
}
void loop() {
digitalWrite(eye1, LOW);
delayMicroseconds(2);
digitalWrite(eye1, HIGH);
delayMicroseconds(10);
digitalWrite(eye1, LOW);
cm = pulseIn(eye2, HIGH) / 50.0;
cm = (int(cm * 100.0)) / 100.0;
if (cm <= 20) {
back(1);
}
else if (cm > 30) {
go(1);
}
else if (cm > 20 || cm < 30) {
stop1(100);
}
else {
go(1);
}
}
void go(int n) {
analogWrite(PWM1, 180);
digitalWrite(left1, HIGH);
digitalWrite(left2, LOW);
analogWrite(PWM2, 183);
digitalWrite(right1, HIGH);
digitalWrite(right2, LOW);
delay(100 * n);
}
void stop1(int y) {
digitalWrite(left1, LOW);
digitalWrite(left2, LOW);
digitalWrite(right1, LOW);
digitalWrite(right2, LOW);
delay(y * 1);
}
void back(int j) {
analogWrite(PWM1, 180);
digitalWrite(left1, LOW);
digitalWrite(left2, HIGH);
analogWrite(PWM2, 183);
digitalWrite(right1, LOW);
digitalWrite(right2, HIGH);
delay(100 * j);
}
void left(int k) {
analogWrite(PWM1, 253);
digitalWrite(left1, LOW);
digitalWrite(left2, HIGH);
analogWrite(PWM2, 255);
digitalWrite(right1, HIGH);
digitalWrite(right2, LOW);
delay(400 * k);
}
void right(int aa) {
analogWrite(PWM1, 253);
digitalWrite(left1, HIGH);
digitalWrite(left2, LOW);
analogWrite(PWM2, 255);
digitalWrite(right1, LOW);
digitalWrite(right2, HIGH);
delay(1 * aa);
}
上传这段代码后:
如果前方距离小于或等于20,小车后退。
如果前方距离大于30,小车前进。
如果前方距离大于20并小于30,小车停止。
如果都不是,小车前进。